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Jingsong Wang

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2 papers
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2

AAAI Conference 2011 Conference Paper

A Framework for Integration of Logical and Probabilistic Knowledge

  • Jingsong Wang
  • Marco Valtorta

Integrating the expressive power of first-order logic with the ability of probabilistic reasoning of Bayesian networks has attracted the interest of many researchers for decades. We present an approach to integration that translates logical knowledge into Bayesian networks and uses Bayesian network composition to build a uniform representation that supports both logical and probabilistic reasoning. In particular, we propose a new way of translation of logical knowledge, relation search. Through the use of the proposed framework, without learning new languages or tools, modelers are allowed to 1) specify special knowledge using the most suitable languages, while reasoning in a uniform engine; 2) make use of pre-existing logical knowledge bases for probabilistic reasoning (to complete the model or minimize potential inconsistencies).

ICRA Conference 2002 Conference Paper

Control System Design of THBIP-I Humanoid Robot

  • Mingguo Zhao
  • Li Liu
  • Jingsong Wang
  • Ken Chen
  • Jiandong Zhao
  • Kai Xu

Describes the progress of the control system design and implementation of the THBIP-I humanoid robot. The robot has 32 degrees of freedom and each joint is driven by a brushless DC electronic motor. Screw/nuts transmission mechanism is adapted in some joints of lower limbs to achieve compact and good dynamic performance. The control system of the robot has four subsystems: remote brain work station, mobile controller, distributed control units and sensor processing unit. At the present state, the lower limbs and upper limbs have been built and tested with off line gait planning. The distributed control units use PID schemes to servo the pre-generated joint trajectories. Under this architecture, the robot can perform stable walking with 30 centimeters step at 20 second per step.

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